openmv/scripts/examples/01-Camera/03-Event-Cameras/02-Genx320/genx320_grayscale_led_tracking.py
2025-01-14 09:26:26 +01:00

38 lines
1.4 KiB
Python

# This work is licensed under the MIT license.
# Copyright (c) 2013-2024 OpenMV LLC. All rights reserved.
# https://github.com/openmv/openmv/blob/master/LICENSE
#
# This example shows off using the GenX320 event sensor from Prophesee for tracking an active marker
# with LEDs. The sensor settings (biases) are tuned for seeing only high-contrast LEDs modulated at
# high frequency. With these settings, the sensor does not detect any low-contrast changes in
# the scene except of LEDs thus allowing highly efficient and robust LEDs tracking.
# Prophesee active marker board with LEDs and the corresponding event-based data are shown in
# https://youtu.be/j-LpkDpCxUU?si=jA3B4xZg9RHlyoW3.
import sensor
import time
sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE) # Must always be grayscale.
sensor.set_framesize(sensor.B320X320) # Must always be 320x320.
sensor.set_framerate(200)
# Applies sensor biases tuned for tracking of an active marker with LEDs
sensor.ioctl(sensor.IOCTL_GENX320_SET_BIASES, sensor.GENX320_BIASES_ACTIVE_MARKER)
clock = time.clock()
while True:
clock.tick()
img = sensor.snapshot()
blobs = img.find_blobs(
[(120, 140)], invert=True, pixels_threshold=2, area_threshold=4, merge=True
)
for blob in blobs:
img.draw_rectangle(blob.rect(), color=(255, 255, 255))
img.draw_cross(blob.cx(), blob.cy(), color=(0, 0, 0))
print(clock.fps())